         y (+ (* (Math/sin beta-rad) first-arm) (* (Math/sin (- alpha-rad)) second-arm))]
     (list (* r (Math/cos theta-rad)) y (* r (Math/sin (- theta-rad))))))
 
-(def ^:dynamic *serial-conn* nil)
-(def dump-degrees false)
+(def ^:dynamic *serial-conn*)
+(def dump-degrees true)
 
 (defn set-count [cnt]
   (let [count-str (format "s=%d," cnt)]

;;
(def min-y 18)
(def xfield-size 24)
(def yfield-size 12)

(def base-high 25.4)
(def first-arm 20.9)
(def second-arm 24.0)
(def offset-last 5.2)

(defn to-int [val]
  (int (+ 0.5 val)))

  (with-open [fout (io/writer "dump_degrees.h" :append true)]
    (.write fout (str (count angles-seq) "., "))
    (doseq [[a b c d] angles-seq]
      (.write fout (format "%f, %f, %f, %f, " a b c d)))
    (.write fout "\n")))

(defn augmented-strokes-to-angles [filename]
  (defn calc-z [point left right]
